Performance Evaluation and Fabrication of Voice

Controlled & Gesture Controlled Unmanned Aerial

Vehicle
Dr. R. Arravind [1] ,S Krishnakumar [2],T. Aravind[3]
[1]
Associate professor, [2][3] Final year Aeronautical Engineering

arravind_r@rediffmail.com[1] kuttasivakumar@gmail.com[2 ]

Nehru institute of Engineering and Technology

T.M.PALAYAM ,COIMBATORE-105

Abstract : configuration causes the torque from individual motor

which cancelled by the corresponding motor rotating in
Unmanned Aerial Vehicles have gained notable
the opposite direction. The comparison of quadcopters
attention in aviation recent years for a enormous
with helicoptersis,in order to control pitch, yaw, and roll
applications such as surveillance operations for both
the pilot uses variable thrust between the four motors.
military and civil purpose , as well as search and rescue
There is no mono large collective pitch rotor or tail rotor
missions. The UAVs are controlled by professional
that is used to manoeuvre a conventional helicopter. By
licencedpilots , due to vast application it should be user
precisely spinning these four propellers of quadcopter at
friendly to everyone.The objective is to find
variable speeds, all the common maneuverability of a
performance evaluationand fabricate and implement an
quadcopter are attained such as( Hover,
unmanned aerial vehicle which is controlled by means
forward/backward movement, left/right movement, and
of voice recognition and hand gesture recognition. In
yaw (turn rate) movement) .
the proposed system, voice and gesture commands are
given to the quadcopter to control it autonomously. This Methodology
system is navigated by the voice input as well as hand
Working of voice controlled quadcopter:
gesture movements . The control system responds to the
control input by voice recognition and hand gesture The vehicle is navigated according to the input from
processrespectively by corresponding algorithms make the transmitter by giving appropriate throttle values
the motors to run at specified speeds which controls the manually. Due to some reasons there is a loss in
direction of the quadcopter. transmission and so the quadcopter takes little time to
respond the signal. Apart from this conventional
Keywords: Quadcopter; Voice recognition; gesture
method, it can be controlled by interfacing voice
recognition; Arduino; Thrust; Flight controller
commands and transmitting using Bluetooth LF module
Introduction :
Working of Gesture controlled quadcopter:
The Quadcopter is an emerging Unmanned Aerial
The vehicle is navigated according to the input from
Vehicle(abbreviated as UAV) which is lifted and
the transmitter by giving appropriate hand movements
propelled by four rotors. A quadcopter uses 4 motors
to pitch, roll, yaw. The stability condition during flight
and propellers to create thrust and give the total lift.
is sensed using sensors namely accelerometers and
Two motors rotate in anti- clockwise direction and the
gyroscopes, and its output of the sensors is used to
other two motors rotate in clockwise direction. This
maintain stability.
Design of quadcopter model propeller is intimated on the basis of its pitch and
diameter in inches.
The X type frame used in the quadcopter must be thin,
feather weight and strong enough to withstand
deformation and loads. Usually the frames are indicated
as motor to motor distance . For the mini aerial vehicle
150-200 millimetredistance is chosen for application.
The diagonal distance from motor to motor for this
project is 350mm. At the centre of the frame, the arms
are attached for resting of flight controllers, battery and
other electronic components. due high load acting on
figure 1:Block diagram for transmitting module
the centre of the frame we choose open square
rectangular frame which reduce the weight and give
strength compared to other type of frame. The input voice
command& voice
quadcopteris designed using solidworks software as recognition
flight ardunio
gesture module &
shown in Figure 1. The dimensions of the quadcopter movement accelerome
controller `101`
through ter
frame are shown in Table 1. microphone

Propulsion system

The propulsion system consists of motors, propellers, figure 2 : assembly of quadcopter

Electronic Speed Controllers (ESCs), batteries and
propellers. Both the motor and propeller combination
that create an upward thrust which lift vehicle upwards.

As the determinedoverall weight is considered to be

1.24 kg, the thrust requirement from four motors should
be twice that of 1.24 kg. So for that each motor should
be able to produce 670g of thrust force. Each motors
are selected based on their Kv rating. which is
calculated by using below formula, DESIGN CALCULATION:
RPM = Kv rating × Voltage input
Propeller Dimension:
Substituting the values of RPM and Voltage input, We have chosen prop dia and pitch with respect
to the motor to motor distance. The area of sweep
Kv rating = 10400/11.1 = 937 Kv.
in the propeller is calculated below,.
Propeller is also a type aerofoil which twisted in certain D = 10 inches
angle which transmits power by converting rotational
Pitch = 4.5”
motion into upward thrust. From Standard values,
Area of sweep angle of propeller (A)
Propellers are twisted along the length of the blades.
𝜋 3.14
This is to ensure whether the angle of attack of the 𝐴= 4
𝐷2 = 4
× 102
blades is kept constant along their length. The twisted
= 78.5 𝑖𝑛2
portion of the propeller is referred as pitch. The
Area of sweep angle of propeller (𝐴𝑓𝑡 ) S.NO PARAMAETRS SPEC
1 Arm length 200 mm
𝐴𝑓𝑡 = 78.5 × 0.8332
2 Arm dimension 20 × 30 × 0.5mm
𝐴𝑓𝑡 = 0.5447
3 Cental frame plate 100 ×100 ×3 mm
THROTTLE CALCULATION: dimension

𝑃𝑖𝑛 = 𝑎𝑚𝑝 × 𝑣 (𝑡𝑜𝑡𝑎𝑙 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 𝑖𝑛 𝑏𝑎𝑡𝑡𝑒𝑟𝑦) 4 Motor to motor distance 450 mm

5 Total weight 220 g
= 8.5 × 11.1
Table 1: dimensions of frame
= 94.35 watts

Where, Power with respect to propeller:

𝑃𝑖𝑛 = Input power 𝑝𝑜𝑤𝑒𝑟 𝑤𝑎𝑡𝑡𝑠 = 𝑘𝑝 × 𝑅𝑃𝑀 3.2
V = voltage in battery.
Where Kp is the propeller constant , D is the diameter
of the propeller in inch, P is the pitch of the propeller
POWER LOADING: inches and RPM is the rotations per minute in
𝑃𝑖𝑛 ×𝑛 94.35 ×0.8 thousands. The propeller is to be chosen which
𝑃𝐿 = 𝐴 𝑓𝑡
= 0.5447
absorbs power of 210Watts at 10400 RPM.
= 138.571
Substituting the values, we get D = 0.8334 = 10 inch.
Thrust loading:
Electronic speed controllers
𝑇𝐿 = 8.65 × 𝑃𝐿(−0.317)
The working of ESC is to get the signal from the
= 1.8117
flight controller. Which controls the speed of the
motor precisely. The power will be supplies from
LIFT PER MOTOR battery and it can be varied according to the input
= TL (𝑃𝑖𝑛 × ῃ ) signal. This also have some technology which. is BEC
(Battery Eliminated Circuit).Individual motors are
= 136.73 N
connected to single ESC`S. The battery eliminated
TOTAL LIFT = LIFT × N = 118.73 × 4
circuit supplies 5Voutput from ESC and transmit to
= 554.28 N receiver and flight controller. Main objective of
Current ESCis to control speed of motor. It control the throttle

I = A (PER MOTOR) × N speed which command from the receiver. The ESC
can be selected based on its ampere rating. ESC
= 8.5 × 4
rating = (1.2 to 1.5) × max.
I = 34 A
Ampere rating of motor = 1.5 × 15A
POWER
P =A×V = 22.5 A

= 34 × 11.1 Battery:
P = 377.4 Watts
Frequently used battery for quadcopter is lipo (lithium
polymer battery). each battery have a cell which
produces required amount current which needed for the
motor. These batteries are rechargeable. Comparing to Analog input pins 6
other types of batteries it has low weight & high DC current per i/o 20mA
discharge time. each cells in the battery have 3.7V. pin
Flash memory 196Kb
SRAM 24Kb
Features Bluetooth,6-axis
accelerometer/gyro

Thrust Calculation: The total mass of the quadcopter

assumed in table 3.

S,NO PARTS WEIGHT(g)

Lipo batteries are classified based on their C- rate
(coulomb), C rating intimates the discharge of battery at 1 Central frame & arms 225

fast rate. Batteries are selected based on their discharge 2 Motor(4) 224

rate & capacity Eg: 2200mAh with 20C discharge 3 Propeller(4) 56

maximum current withdrawn by motors = no. of motors 4 ESE(4) 92

maximum current with drawn by single motor 5 Flight controller 40

6 Arduino 34
7 Battery 175
Total 846
The total assumed mass was calculated above table,
which is about

The thrust of the quadcopter is given by the equation

T = πD2ρvΔv/4

Where T is thrust in N, D is Propeller diameter in m, ρ

is Density of the air – 1.22 kg/m3
Flight controller
Also V = ΔV/2
Flight controller is a micro controller on which suitable
Where V is the velocity of air at the propeller, ΔV is the
sensors and wireless communication are interfaced that
velocity of the air accelerated by propeller.
controls the speeds of the motor by receiving the values
from transmitter and feedback from sensors. The Substituting, we get,
Arduino 101 is based on the intel curie which is low
T = πD2ρ(Δv)2/8
power consumption.
But power P = T(ΔV)/2
Table 2: tech spec
Substituting the value of ΔV,
Operating voltage 3.3v(tolerance 5v)
Input voltage 7-12v T = [π/2D2ρ(P2)]1/3

Digital i/o pins 14

Therefore, total mass lifted by the quadcopter vehicle is An accelerometer will be fixed over on the hand that
calculated as will detect the movement of thebody then its sense the
signal to the micro controller. Thatsignal will be send
m = Thrust/ acceleration due to gravity = T/g
to the drone with the help of telemetry.
m = [π/2D2ρ(P2)]1/3/g
The accelerometer will fixed on the Hand it’ll recognize
Substituting the values, we get m = 1.517 kg the hand gestures by the Six axes.

The results of the thrust calculation of the Quadcopter The sensor send the signal to microcontroller
show that it would be capable of flying with a minimum , then it’ll sent to Drone by Air telemetry.
payload of 500 grams safely.
The deflexion of hand signal transfer to flight
Voice Command Recognition controller it’ll sent to ESC to ascend & descend

The drone which operate by the voice commands the Working of Hand Gesture & voice Command:
voice command will be received by the micro
As we know that voice command can be done by
controller then it will generate the output signal to the
Voice recognization where voice is an input device by
Bluetooth module, that signal will be received by the
means of collection command through microphone as a
mobile. The ground telemetry is connected to the
energy where the micro controller are made of
mobile through which you can send the signal to the
semiconductors where for certain period it works as a
air module which is connected to the drone
conductor so it can be done by input voice process.
Flight controller receives the signal from the
In Gesture control the movement has been
air telemetry and gives the signal to the all ESC’s which
recognize by using accelerometer and gyroscope where
controls the motor speed. Based on the voice command
these two instruments are estimated by means of sensing
drone will be control.
the angular rotation of the hand which takes a
The voice command “lift of” will be received by the command as up & down
microcontroller then it generate output signal to the
Conclusion
Bluetooth module , that signal will be received by
laptop .The ground telemetry is connected to the PC The core intention of the project is to control the
through which signal sent to Air module.Flight quadcopter entirely by Human Voice input& Hand
controller will receive the signal & the ESC send gesture. In case of failure of a command, it can also be
signal to motors to rotate at equal RPM that will “lift controlled alternatively by gesture control. The project
“the drone. can be extended by implementing some add on
functions such as “visual recognition” which recognize
Hand Gesture Recognition
the Userface .
Gesture recognition technology helps to communicate
 The combination of the gesture and voice
or control any other devices we have your hand
creating instability in the quad motion.
gesture. From this technology we can control the
 The inclusion of payload may cause
drone simply by moving your hands
disorientation in the flying.
Now we can control the drone by doing the
gesture where you don’t need to have the transmitter.
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[7]7th International Conference on Advances in

Computing & Communications, ICACC-2017, 2224
August 2017, Cochin, India Hand Gesture Recognition for
Human Computer Interaction

[8]6th CIRP Global Web Conference “Envisaging

the future manufacturing, design, technologies and
systems in innovation era”Comfort Evaluation Model for
Gesture Motion based on Mechanical energy expenditure

[9]6th International Conference on Applied

Human Factors and Ergonomics (AHFE 2015) and the
Affiliated Conferences, AHFE 2015 UAV Gesture
Interaction Design for Volumetric Surveillance

(http://creativecommons.org/licenses/by-nc-nd/4.0/).